CN203141485U

CN203141485U - Simple manipulator device

Info

Publication number: CN203141485U
Application number: CN 201320104682
Authority: CN
Inventors: 吴深飞
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-03-08
Filing date: 2013-03-08
Publication date: 2013-08-21
Anticipated expiration: 2023-03-08

Abstract

The utility model discloses a simple manipulator device, which comprises a base, wherein a pair of manipulators which is arranged symmetrically is hinged on the base; hinged shafts of the two manipulators which are hinged on the base are positioned at the middle position of each manipulator; a moving gap is reserved between two symmetrical free ends on both sides of the hinged shafts of the two manipulators; the two manipulators are connected with a pull spring on one sides of the hinged shafts; and a carried rod is embedded into the moving gap between the two symmetrical free ends of the manipulators on the sides where the pull spring is arranged. According to the simple manipulator device, two movable arms and claws with higher grabbing accuracy are arranged according to the pincer pliers principle, the carrier rod is embedded into the moving gap at another opposite side end, and the moving gap between the two claws is reduced after the abovementioned moving gap is expanded, so that objects can be clamped firmly. The simple manipulator device has the advantages of simple overall structure, low manufacturing cost, small size, high grabbing accuracy, high grabbing strength and wide operation range.

Description

A kind of simple and easy robot device

Technical field

The utility model relates to field of mechanical technique, a kind of simple and easy robot device of more specifically saying so.

Background technology

Manipulator, what say is exactly some holding function of some imitation staff and arm, in order to the automatic pilot that grasps, carries object or operation tool by fixed routine.

Be ZL 201120003044.1 such as the patent No., name is called the two pawls of a kind of movable joint and refers to simple and easy manipulator, comprises that principal arm, lever arm, gripper refer to, connecting rod and compression spring; Principal arm comprises forearm, postbrachium and movable joint; Be connected by movable joint between forearm and the postbrachium; Lever arm and forearm front end are hinged; Gripper refers to be two with the number of connecting rod.

In this patented technology, problems such as it efficiently solves existing machinery hand complex structure, cost height, volume is big, weight is big, yet this manipulator can only be done heavy manual labour, can not do fine work, its big slightly grasping of article volume of grasping just, however tiny thing just can not grasp, such as needlework, ornaments ring etc., its extracting dynamics is little in addition, and it is not strong to grab the thing stable degree.

The utility model content

The purpose of this utility model is to overcome the above defective of prior art, provide a kind of simple in structure, cost is low, volume is little, grasp the precision height, grab the simple and easy robot device that the thing stable degree is strong, job area is wide.

In order to reach above purpose, the utility model is achieved through the following technical solutions: a kind of simple and easy robot device, it is characterized in that, comprise pedestal, be hinged with the manipulator of a pair of symmetric arrangement on the described pedestal, the jointed shaft that two described manipulators are hinged on the pedestal is positioned at the medium position of manipulator separately, two described manipulators all leave the free gap between the free end of two symmetries in the jointed shaft both sides, two described manipulators are connected with extension spring in a wherein side of jointed shaft, implant a push rod in this arranges free gap between two free ends of manipulator symmetry of extension spring side.

The utility model adopts the vice principle, set two lever arms, and the higher pawl of extracting ratio of precision refers to, embed a push rod at another in to the side free gap, after support should be located the free gap greatly, free gap between two pawls refer to just reduces, so that clench article, and the utility model overall structure is simple, cost is low, volume is little, grasp the precision height, grab that the thing stable degree is strong, job area is wide.

As preferably, the width of described push rod is greater than the free gap maximum between two free ends of described manipulator offside symmetry.

When the width of push rod during greater than the free-ended free gap of offside two manipulators, after the embedding of push rod, be similar to the vice effect, the offside free gap just can be reduced to any gap width, thereby firmly grasps any article, increases the scope of application.

As preferably, be respectively arranged with a fixed pulley, described fixed pulley and described push rod sliding connection at two free ends of implanting described push rod side.

Fixed pulley can make push rod embed very smoothly, thereby makes that whole manipulator operation is smooth.

As preferably, described manipulator comprises that lever arm and pawl refer to, described pawl refers to be fixed on the described lever arm by hold-down nut, and described pawl refers to the position opposite that the position that arranges and described push rod arrange.

The structure of manipulator can according to the article difference that will grasp do careful, the lever arm of main flow is many, is exactly that the pawl that grasps article refers in addition.

As preferably, the two ends of extension spring are separately fixed on the tension spring shaft that is positioned on two manipulators.

Extension spring can also be by arranging two breach at manipulator (referring to lever arm), and cover is entered then, and similar simple form realizes, is the most reliable mode, difficult drop-off yet tension spring shaft is set.

Beneficial effect: the utility model adopts the vice principle, set two lever arms, and the higher pawl of extracting ratio of precision refers to, embed a push rod at another in to the side free gap, after support should be located the free gap greatly, free gap between two pawls refer to just reduces, so that clench article, and the utility model overall structure is simple, cost is low, volume is little, grasp the precision height, grab that the thing stable degree is strong, job area is wide.

Description of drawings

Fig. 1 is manipulator deployed condition structural representation of the present utility model;

Fig. 2 closes up the status architecture schematic diagram for manipulator of the present utility model;

Fig. 3 is the side view of Fig. 2.

Among the figure: the 1-pedestal, the 2-lever arm, 3-jointed shaft, 4-pawl refer to, 5-hold-down nut, 6-extension spring, 7-tension spring shaft, 8-push rod, 9-fixed pulley.

The specific embodiment

Be easy to understand understanding in order to make technological means of the present utility model, creation characteristic and to reach purpose, further set forth the utility model below in conjunction with specific embodiment.

Embodiment: as Fig. 1, Fig. 2 and shown in Figure 3, a kind of simple and easy robot device, comprise pedestal 1, be hinged with the lever arm 2 of a pair of symmetric arrangement on the pedestal 1, the jointed shaft 3 that two lever arms 2 are hinged on the pedestal 1 is positioned at the medium position of lever arm 2 separately, and two lever arms 2 all leave the free gap in jointed shaft 3 both sides between the free end of two symmetries.On a wherein side free end of two lever arms 2, respectively fix a pawl by a hold-down nut 5 and refer to 4, respectively be provided with a fixed pulley 9 on the opposite side free end.Implant a push rod 8 between two fixed pulleys 9, fixed pulley 9 and push rod 8 sliding connections.Pawl refers to the position opposite that 4 positions that arrange and push rod 8 arrange, and namely lays respectively on the two ends of lever arm 2.On two lever arms 2 of implanting push rod 8 sides, fixedly install respectively between a tension spring shaft 7, two tension spring shafts 7 and be connected with an extension spring 6.The width of push rod 8 refers to the maximum of free gap between 4 greater than two pawls.

Practical: under the initial state, push rod withdraws between two fixed pulleys, and two pawls refer to present by the extension spring reset response on two lever arms and open situation.

After push rod was implanted between two fixed pulleys, support greatly should free gap, place, and two pawls refer to present around the rotation of jointed shaft by two lever arms and close up situation, thereby catch article.

After extracting finished, push rod withdrawed from, and extension spring resets, and manipulator is got back under the initial state, unclamps article, entered next flow process.

More than show and described basic principle of the present utility model, principal character and advantage of the present utility model.The technical staff of the industry should understand; the utility model is not restricted to the described embodiments; that describes in above-described embodiment and the specification just illustrates principle of the present utility model; the utility model also has various changes and modifications under the prerequisite that does not break away from the utility model spirit and scope, and these changes and improvements all fall in claimed the utility model scope.The claimed scope of the utility model is defined by appending claims and equivalent thereof.

Claims

1. simple and easy robot device, it is characterized in that, comprise pedestal, be hinged with the manipulator of a pair of symmetric arrangement on the described pedestal, the jointed shaft that two described manipulators are hinged on the pedestal is positioned at the medium position of manipulator separately, two described manipulators all leave the free gap between the free end of two symmetries in the jointed shaft both sides, two described manipulators are connected with extension spring in a wherein side of jointed shaft, implant a push rod in this arranges free gap between two free ends of manipulator symmetry of extension spring side.

2. simple and easy robot device according to claim 1 is characterized in that, the width of described push rod is greater than the free gap maximum between two free ends of described manipulator offside symmetry.

3. simple and easy robot device according to claim 1 and 2 is characterized in that, is respectively arranged with a fixed pulley, described fixed pulley and described push rod sliding connection at two free ends of implanting described push rod side.

4. simple and easy robot device according to claim 1 is characterized in that, described manipulator comprises that lever arm and pawl refer to, described pawl refers to be fixed on the described lever arm by hold-down nut, and described pawl refers to the position opposite that the position that arranges and described push rod arrange.

5. according to claim 1 or 2 or 4 described simple and easy robot devices, it is characterized in that the two ends of extension spring are separately fixed on the tension spring shaft that is positioned on two manipulators.

6. simple and easy robot device according to claim 3 is characterized in that, the two ends of extension spring are separately fixed on the tension spring shaft that is positioned on two manipulators.